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The article presents investigations in the area of the analysis of heterogeneous biological tissues using tools based on mechanical stimulations. Some known tissue mechanical models are presented along with one approach for specifying the tissue internal structure by measuring mechanical macro parameters of the research tools. The methodology of micro and macro stimulation is described and the construction of an experimental model of a smart laparoscopic tool for its realization is presented.

Robotic technologies are advancing in the field of minimally invasive surgery. The last decade, more than 1.5 million laparoscopic surgical procedures, including gynecologic, cardiac, urology, thoracic, and general surgery, have been performed by popular robotic and mechatronic systems for minimally invasive surgery. In contrast to big popular robot systems, which are designed for manipulation and video observation, this paper describes a novel instrument for therapy. The purpose of the paper is to present the design of a compact, convenient, simplified, better, and affordable priced device, so that small hospitals can access and benefit from these systems. The ultimate goal is to radically improve the quality and efficiency of healthcare.

The main target of everyone engineering work associated with minimally-invasive surgery is to provide adequate tool-tissue force information to the surgeons so that they can regain the \"sense of touch\" that has been lost through laparoscopic surgery. In contrast to daVinchi robots by Intuitive Surgical Incorporation which instruments are designed for manipulation and video observation our institute developed family tools with additional functions. Therefore, two main problems were solved: i) an original construction of an adequate experimental module for robots was designed and produced, in which two force sensors was incorporated to provide tool-tissue information (some of which were described and discussed in a previous work), and ii) hardware and program resources for control and monitoring of this module were achieved, this being the object of this work. The computer program includes information about various measurements of the tip tool-contact surface interactions and data obtained from the experimental module that is used to find the difference between data from previous measurement and information received in real time. Another signification advantage of the proposed program solution is the graphical visualization of the measurements and comparison of the results. Therefore, the surgeon can give the adequate command to force interaction between the instrument and tissue. For verification of the functionality and working capacity of the experimental module with force feedback capabilities of robots, different experiments with the designed control system were conducted.